diff --git a/.gitignore b/.gitignore
index 47ce3ebd917badd70fa9653351ef29cc3a0a1d0b..30bd60effde2c708c3b453273a5e4bb684859502 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,6 @@
.idea
*.bag
+*.pyc
.catkin_workspace
+
# *CMakeLists.txt
\ No newline at end of file
diff --git a/README.md b/README.md
index 89757aac7a30217f1f7bd88f262fdb2e2e09a593..de6da4d61f11520b9e66792b94cb9f415939c98e 100644
--- a/README.md
+++ b/README.md
@@ -4,6 +4,7 @@ Human detection model that runs on ROS
This is a human detection mode that uses Intel RealSense D435 Camera and ROS Kinetic. Visit the GitHub page of
Intel RealSense-ROS for more camera installation.
+## Installing The Workspace
Run the following commands on terminal to get started.
First we start a workspace
@@ -21,3 +22,22 @@ source ./devel/setup.bash
```
*Something like that. I will fix it later.*
+
+## Sample Data Files
+Below are some links to example files. These bag files are too big for GitHub so I put them on Google Drive.
+Download them as you wish. Here are the types and the message topics.
+I recorded them with Intel RealSense D435 Camera at 60 fps (I think).
+
+```
+types: sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
+ sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
+topics: /camera/color/image_raw 534 msgs : sensor_msgs/Image
+ /camera/depth/image_rect_raw 534 msgs : sensor_msgs/Image
+ /camera/depth_registered/points 525 msgs : sensor_msgs/PointCloud2
+```
+
+1. Indoor settings
+- *Will update as I go*
+
+2. Outdoor settings
+- *Will update as I go*
\ No newline at end of file
diff --git a/get_obj_dist/src/depth_filter.py b/get_obj_dist/src/depth_filter.py
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..d9f30740377d389266d789106ded182b56c3b6d2 100644
--- a/get_obj_dist/src/depth_filter.py
+++ b/get_obj_dist/src/depth_filter.py
@@ -0,0 +1,13 @@
+import numpy.ma as ma
+import cv2
+
+
+def filter_background(roi):
+ ret_val = ma.masked_less(roi, 2900)
+ # roi[roi <= 2900]
+ return ret_val
+
+
+def mask_the_thing(image, mask):
+ cv2.bitwise_and(image, mask)
+
diff --git a/get_obj_dist/src/object_to_distance.py b/get_obj_dist/src/object_to_distance.py
index 286d7229a45ed065555d9d43f2f955d0dbcf339d..1c0468a085617e412f9fa0386af87e00c3f7812c 100755
--- a/get_obj_dist/src/object_to_distance.py
+++ b/get_obj_dist/src/object_to_distance.py
@@ -6,12 +6,11 @@ import cv2
import rospy
import message_filters
-sys.path.append('/home/jerry/Documents/workspaces/ROS_human_detection/src/human_detection')
-
from visualization_msgs.msg import Marker
from sensor_msgs.msg import Image, PointCloud2
from cv_bridge import CvBridge, CvBridgeError
-from human_detection.msg import bounding_box, box_list
+from human_detection.msg import box_list
+from depth_filter import *
text_position = (10, 50)
font = cv2.FONT_HERSHEY_SIMPLEX
@@ -19,43 +18,48 @@ font_scale = 0.75
font_color = (255, 255, 255)
line_type = 2
+
class obj_dist:
def __init__(self):
# Initializing ROS Topics
self.bridge = CvBridge()
self.dist_pub = rospy.Publisher('/obj_to_dist/human_distance', Image, queue_size=10)
self.render_pub = rospy.Publisher('/obj_to_dist/render_human', Marker, queue_size=10)
-
- # self.bbx_sub = rospy.Subscriber('/human_detected_image/bounding_box', box_list, self.yea)
- # self.human_image_sub = rospy.Subscriber('/human_detected_image/image', Image, self.yea1)
- # self.depth_image_sub = rospy.Subscriber('/camera/depth/image_rect_raw', Image, self.yea2)
+ self.roi_pub = rospy.Publisher('/obj_to_dist/disappera', Image, queue_size=10)
self.bbx_sub = message_filters.Subscriber('/human_detected_image/bounding_box', box_list)
self.human_image_sub = message_filters.Subscriber('/human_detected_image/image', Image)
self.depth_image_sub = message_filters.Subscriber('/camera/depth/image_rect_raw', Image)
- self.pcl_sub = message_filters.Subscriber('/camera/depth_registered/points', PointCloud2)
+ # self.pcl_sub = message_filters.Subscriber('/camera/depth_registered/points', PointCloud2)
ts = message_filters.ApproximateTimeSynchronizer([self.bbx_sub, self.human_image_sub,
- self.depth_image_sub, self.pcl_sub],
+ self.depth_image_sub],
queue_size=10,
slop=1)
ts.registerCallback(self.callback)
- def callback(self, bbx, image, depth, point_cloud):
+ def callback(self, bbx, image, depth):
if bbx.length:
cv_depth = self.bridge.imgmsg_to_cv2(depth, 'passthrough')
cv_image = self.bridge.imgmsg_to_cv2(image, 'bgr8')
+
for box in bbx.people_list:
cood = self.get_human_distance(cv_depth, cv_image, box)
- self.render_human(cood, point_cloud)
+ self.render_human(cood)
def get_human_distance(self, cv_depth, cv_image, box):
- roi_depth = cv_depth[box.xmin:box.xmax, box.ymin:box.ymax]
+ roi_depth = cv_depth[box.ymin:box.ymax, box.xmin:box.xmax]
- filtered_depth = roi_depth[roi_depth <= 2900]
+ jk = np.shape(roi_depth)
+ jk = jk[0]*jk[1]
+ filtered_depth = filter_background(roi_depth)
_size = len(filtered_depth)
+ print('size of original: {}'.format(jk))
+ print('size of filtered: {}'.format(_size))
+ print('')
avg_distance = filtered_depth.sum() / _size / 1000
+
x_meter = self.get_x_in_meters(box.xmin, box.xmax, avg_distance)
cv2.putText(cv_image, '{} meters'.format(avg_distance),
(box.xmin, box.ymax - 100),
@@ -63,10 +67,14 @@ class obj_dist:
font_scale,
font_color,
line_type)
+
+ # self.roi_pub.publish(self.bridge.cv2_to_imgmsg(filtered_depth.data))
+ self.roi_pub.publish(self.bridge.cv2_to_imgmsg(roi_depth))
self.dist_pub.publish(self.bridge.cv2_to_imgmsg(cv_image))
+
return x_meter, 0, avg_distance
- def render_human(self, cood, point_cloud):
+ def render_human(self, cood):
marker = Marker()
marker.header.frame_id = 'camera_color_optical_frame'
marker.header.stamp = rospy.Time.now()
@@ -103,6 +111,7 @@ class obj_dist:
def main(args):
rospy.init_node('obj_dist', anonymous=True)
+ print("object_to_distance.py is running")
_ = obj_dist()
rospy.spin()
cv2.destroyAllWindows()
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diff --git a/human_detection/src/object_detection/utils/visualization_utils.pyc b/human_detection/src/object_detection/utils/visualization_utils.pyc
deleted file mode 100644
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diff --git a/human_detection/src/webcam.py b/human_detection/src/webcam.py
index d333adcce793a906074c860d2ac8b6ea15bcfd4a..f26ca35b6482da22ccf6df14c6f9aba2b4637fe7 100755
--- a/human_detection/src/webcam.py
+++ b/human_detection/src/webcam.py
@@ -3,13 +3,13 @@ import time
import sys
import os
import rospy
-from setuptools import setup, find_packages
+import numpy as np
import tensorflow as tf
sys.path.append('/home/jerry/Documents/workspaces/human_detection/src/ROS_human_detection/human_detection/src')
# For performance analysis timing, import time.
-from analysis_tools.data_grapher import *
+# from analysis_tools.data_grapher import *
from analysis_tools.define import *
from human_detection.msg import bounding_box, box_list
from sensor_msgs.msg import Image